基于MATLAB下的制动系统建模、仿真及ABS控制器设计

Modeling,Simulation and ABS Controller Design of Braking System Based on MATLAB

本文对某汽车ABS制动系统进行仿真建模,并对其进行单轮模型和分段线性的轮胎模型的建立;在Matlab环境下对ABS控制器进行设计和仿真分析;提出了一种门限值控制算法,对制动液压控制系统实现增压、保压、减压动作,使得汽车制动时的滑移率控制在一定范围内,以保证汽车的平稳制动。得出ABS控制下的滑移率时域结果图、车轮前进速度与车轮线速度关系曲线、制动器制动力矩与地面制动力随时间变化曲线。仿真结果表明:在门限值控制算法下设计的ABS控制器能够将滑移率有效地控制在理想范围内,车轮前进速度近似一条直线,加速度趋于定值,且防止了车轮过早抱死,说明在此基础上设计的控制器能够使得汽车平稳制动。

In this paper,the simulation model of an automobile ABS braking system is established,and the single wheel model and piecewise linear tire model are established;The ABS controller is designed and simulated in Matlab environment;A threshold control algorithm is proposed to realize the pressurization,pressure holding and pressure reduction of the braking hydraulic control system,so as to control the slip rate in a certain range,so as to ensure the smooth braking of the vehicle.The time domain results of slip rate under ABS control,the relationship curve between wheel forward speed and wheel linear speed,and the variation curve of brake torque and ground braking force with time are obtained.The simulation results show that the ABS controller designed under the threshold control algorithm can effectively control the slip rate within the ideal range,the forward speed of the wheel is close to a straight line,the acceleration tends to a fixed value,and prevent the wheel from locking prematurely.It shows that the controller designed on this basis can make the vehicle brake smoothly.